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LIO-SAM datasets launch file example

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matlabbe
2026-04-12 23:39:12 +00:00
parent 95004363b4
commit 7dc3730214
4 changed files with 294 additions and 38 deletions
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rtabmap_conversions/src/MsgConversion.cpp
+3 -2
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@@ -2740,8 +2740,9 @@ bool convertScan3dMsg(
float maxRange,
bool is2D)
{
UASSERT_MSG(scan3dMsg.data.size() == scan3dMsg.row_step*scan3dMsg.height,
uFormat("data=%d row_step=%d height=%d", scan3dMsg.data.size(), scan3dMsg.row_step, scan3dMsg.height).c_str());
UASSERT_MSG(scan3dMsg.data.size() == scan3dMsg.row_step*scan3dMsg.height ||
scan3dMsg.data.size() == scan3dMsg.point_step*scan3dMsg.width*scan3dMsg.height,
uFormat("data=%d row_step=%d point_step=%d width=%d height=%d", scan3dMsg.data.size(), scan3dMsg.row_step, scan3dMsg.point_step, scan3dMsg.width, scan3dMsg.height).c_str());
rtabmap::Transform scanLocalTransform = getTransform(frameId, scan3dMsg.header.frame_id, scan3dMsg.header.stamp, listener, waitForTransform);
if(scanLocalTransform.isNull())